A charging system for unmanned surface vessels

Abstract

This invention relates to an unmanned surface vessel (USV) charging system. A flip-and-fold device is mounted on a mother ship. The flip-and-fold component cooperates with the folding component to unfold a conveying component, through which an umbilical cable from the mother ship is conveyed. A tow ring is fitted over the end of the umbilical cable. A mounting base is hinged to the USV to cushion its vertical sway. The mounting base is also hinged to a tow hook to cushion its horizontal sway. The tow hook engages the tow ring, and the umbilical cable passes through the tow ring and connects to the USV's charging port via a charging head. The hinges between the mounting base and the USV, and between the mounting base and the tow hook, cushion the USV's vertical and horizontal sway, ensuring a secure connection between the charging head and the USV's charging port. Compared to using a hoisting system to lift the USV onto the mother ship's deck for charging, this system is largely unaffected by sea conditions, allowing for all-weather charging, and the operation is relatively safe and reliable.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) charging technology, and in particular to an USV charging system. Background Technology

[0002] Unmanned surface vessels (USVs) are increasingly used in scientific research, marine monitoring, and national defense, and related technologies are receiving more and more attention, especially their long-range and endurance capabilities. However, due to limitations in their energy storage capacity and intelligence level, most USVs can only perform missions in coastal waters.

[0003] Currently, when unmanned surface vessels (USVs) are deployed in the open ocean, they are typically loaded onto a mother ship and released after reaching the target area via hoisting or other methods. Similarly, when recharging is required, they must be retrieved back to the mother ship using a hoisting system. Therefore, in rough seas with significant ship rolling and extremely strong waves, retrieving and releasing USVs via hoisting systems is extremely dangerous and difficult. Summary of the Invention

[0004] Therefore, there is a need to provide an unmanned surface vessel (USV) charging system to address the technical challenges of retrieving and releasing USVs via a hoisting system when encountering severe sea conditions, such as large ship swaying and extremely strong waves.

[0005] To achieve the above objectives, the present invention provides an unmanned surface vessel charging system, comprising:

[0006] The flip-folding device is used to install on the mother ship. The flip-folding device includes a flipping component, a folding component, and a conveying component. The flipping component and the folding component cooperate to unfold the conveying component, and the umbilical cable on the mother ship is conveyed through the conveying component.

[0007] The docking device includes a first docking component and a second docking component. The first docking component includes a towing ring, which is sleeved on the end of the umbilical cable. The second docking component includes a mounting base and a towing hook. The mounting base is used to hinge with the unmanned surface vessel (USV) to buffer the USV's vertical sway. The mounting base is hinged with the towing hook to buffer the USV's horizontal sway. The towing hook hooks the towing ring. After the umbilical cable passes through the towing ring, it is connected to the USV's charging port via a charging head.

[0008] Unlike existing technologies, the technical solution of this application first delivers the umbilical cable from the mother ship via a flipping and folding device. Then, while the mother ship and the unmanned surface vessel (USV) are secured by a docking device, the umbilical cable passes through the tow ring and connects to the USV's charging port via a charging head to charge the USV. Finally, the hinged connection between the mounting base and the USV, as well as the hinged connection between the mounting base and the tow hook, can buffer the USV's vertical and horizontal swaying to ensure the connection between the charging head and the USV's charging port. Compared to using a hoisting system to lift the USV onto the mother ship's deck for charging, this application is largely unaffected by sea conditions, allows for all-weather charging, and is relatively safe and reliable in operation.

[0009] Preferably, the first docking assembly further includes a tow cable coupling member, which is sleeved on the part where the umbilical cable is embedded in the steel wire, and has a protrusion at one end.

[0010] The drag ring is sleeved on the outside of the drag cable coupling component. The drag ring has a limiting groove that accommodates the protrusion to limit the connection between the drag ring and the drag cable coupling component.

[0011] In this way, the connection between the limiting groove and the protrusion can be prevented from falling off, thus ensuring the stability of the connection between the towing ring and the towing cable coupling.

[0012] Preferably, the drag ring includes a drag ring body, a mounting cover, and two or more fasteners, wherein the drag ring body and the mounting cover are mounted on the outside of the drag cable coupling member by two or more fasteners.

[0013] In this way, the towing ring body and the mounting cover are installed on the outside of the towing cable coupling component by two fasteners, which makes it easy for the limiting groove to accommodate the protrusion and then fix it by fasteners, and facilitates subsequent maintenance.

[0014] Preferably, the second docking assembly also includes casters, which are mounted on the bottom of the tow hook and are used to contact the docking platform of the mother ship and move on the docking platform of the mother ship.

[0015] Thus, when the mother ship deploys its docking platform, the unmanned surface vessel (USV) docking with the mother ship at the docking platform needs to be supported by casters that roll on the docking platform to reduce drag.

[0016] Preferably, the second docking assembly also includes an anti-disengagement mechanism, which is hinged to the hook of the tow hook and blocks the tow ring to prevent the tow ring from disengaging from the tow hook.

[0017] Thus, the anti-loosening hinge is connected to the hook opening, and when closed, it forms a physical lock, preventing the drag ring from detaching from the drag hook.

[0018] Preferably, the tilting assembly includes a base, a tilting cylinder, a lower arm, and a tilting shaft. The base is used to be mounted on the mother ship. One end of the lower arm is hinged to the base, and the other end of the lower arm is hinged to the tilting shaft. One end of the tilting cylinder is hinged to the base, and the other end of the tilting cylinder is hinged to the lower arm. The tilting cylinder drives the lower arm to rotate around the base.

[0019] The folding assembly includes a folding cylinder and an upper arm. One end of the folding cylinder is hinged to the lower arm, and the other end of the folding cylinder is hinged to the upper arm. One end of the upper arm is hinged to the flipping shaft and is located inside the lower arm. The folding cylinder drives the upper arm to rotate relative to the lower arm.

[0020] The delivery assembly includes a telescopic arm, a cable guide tube, and a cable guide pulley. The telescopic arm is connected to the other end of the upper arm. The cable guide tube is installed on the telescopic arm. The inlet of the cable guide tube is for the umbilical cable from the mother ship to enter. The cable guide pulley is installed at the outlet of the cable guide tube. The umbilical cable is output from the bottom of the cable guide pulley. The telescopic arm drives the cable guide pulley to move vertically upward or downward so that the umbilical cable is flush with the charging port of the unmanned surface vessel.

[0021] Thus, firstly, the two ends of the tilting cylinder are hinged to the base and the lower arm respectively, which can drive the lower arm to rotate 180°; secondly, the two ends of the folding cylinder are hinged to the lower arm and the upper arm, which can drive the upper arm to unfold vertically; finally, the umbilical cable enters from the inlet of the cable guide tube and exits from the bottom of the cable guide pulley. During this process, the height of the umbilical cable can be controlled by the telescopic arm, which can be adapted to the draft of different boat types.

[0022] Preferably, the lower arm has a shoulder at its bottom. The flipping and folding device also includes a support assembly, which includes a support platform, two sets of eye plates, a locking cylinder, a connecting rod, and a locking tongue. The support platform is used to install on the mother ship and supports the lower arm. The two sets of eye plates are installed on one side of the support platform, and there is a gap between the two sets of eye plates to accommodate the shoulder. The locking cylinder is installed on the other side of the support platform, and the output end of the locking cylinder is connected to the connecting rod. The locking tongue is sleeved on the end of the connecting rod. The locking cylinder drives the connecting rod to retract, and the locking tongue passes through the two sets of eye plates and the shoulder to lock the lower arm in the position flipped onto the support platform.

[0023] In this way, the locking cylinder drives the locking tongue through the eye plate and the shoulder, mechanically locking the position of the lower arm, preventing the lower arm from changing position, and resisting the impact of the ship's rolling.

[0024] Preferably, the lower arm is L-shaped, and the other end of the lower arm has a limiting plate, which is used to contact the upper arm to limit the angle between the upper arm and the lower arm to an acute angle or a right angle.

[0025] Thus, the other end of the lower arm has a limiting plate, which limits the upper arm's unfolding angle to ≤90° to prevent over-extension and ensures that the conveying assembly is set in the vertical direction.

[0026] Preferably, the conveying assembly further includes an anti-abrasion plate, which is installed at the lower end of the telescopic arm and located below the guide pulley.

[0027] Therefore, abrasion-resistant pads are installed at the points where the telescopic arm may come into contact with the umbilical cable, i.e., abrasion-resistant pads are installed at the lower end of the telescopic arm to prevent wear on the telescopic arm and wear on the outer sheath of the umbilical cable.

[0028] Preferably, the conveying assembly also includes a guide wheel for mounting on the mother ship, which guides the umbilical cable on the mother ship to the conveying assembly after the conveying assembly is deployed.

[0029] Thus, the guide wheel, installed on the mother ship, can act as a transition after the delivery components are deployed, preventing the umbilical cable from bending.

[0030] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0031] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.

[0032] In the accompanying drawings of the instruction manual:

[0033] Figure 1 This is a schematic diagram of the structure in this application where the unmanned surface vessel (USV) is connected to the mother ship via the USV charging system.

[0034] Figure 2 This is a structural schematic diagram of the connection between the unmanned surface vessel and the mother ship via the unmanned surface vessel charging system in this application from another perspective.

[0035] Figure 3 This is a schematic diagram of the connection between the docking device and the unmanned surface vessel in this application;

[0036] Figure 4 This is a structural schematic diagram of the docking device and the unmanned surface vessel from another perspective in this application.

[0037] Figure 5 This is a schematic diagram of the charging head in this application;

[0038] Figure 6 This is a schematic diagram of the structure in this application where the drag ring is sleeved outside the drag cable coupling component;

[0039] Figure 7 This is a schematic diagram of the drag ring structure in this application;

[0040] Figure 8 This is a schematic diagram of the drag ring from another perspective in this application;

[0041] Figure 9 This is a schematic diagram of the structure of the flipping and folding device installed on the mother ship in this application;

[0042] Figure 10 for Figure 9 Schematic diagram of the structure in the B direction;

[0043] Figure 11 This is a schematic diagram of the flipping and folding device installed on the mother ship from another perspective.

[0044] Figure 12 for Figure 9 Enlarged view of A in the middle;

[0045] Figure 13 This is a top view of the supporting components in this application;

[0046] Figure 14 This is another schematic diagram of the folding and flipping device installed on the mother ship in this application;

[0047] Figure 15 This is a schematic diagram of the flipping and folding device in this application from folding to unfolding.

[0048] The reference numerals used in the above figures are explained as follows:

[0049] 100-Unmanned surface vessel charging system; 200-Mother ship; 2001-Umbilical cable; 2002-Charging head; 2003-Wire; 2004-Insulation layer; 2005-Shell; 2006-Pin; 2007-Terminal; 2008-Towing umbilical winch; 2009-Dock platform; 300-Unmanned surface vessel; 1-Folding and tilting device; 11-Folding assembly; 111-Base; 112-Folding cylinder; 113-Lower arm; 1131-Shoulder; 1132-Limiting plate; 114-Folding shaft; 115-Folding mounting plate; 12-Folding assembly; 121-Folding cylinder; 122-Upper arm; 123-Folding mounting plate; 124-X-shaped support plate; 13-Conveying assembly; 131-Telescopic arm; 132 - Cable guide tube; 133- Cable guide pulley; 134- Anti-wear plate; 135- Guide wheel; 136- Connecting plate; 14- Support assembly; 141- Support platform; 142- Eye plate; 143- Locking cylinder; 144- Connecting rod; 145- Locking tongue; 146- Cylinder mounting seat; 2- Docking device; 21- First docking assembly; 211- Drag ring; 2111- Limiting groove; 2112- Drag ring body; 2113- Mounting cover; 2114- Fastener; 2115- Cable inlet hole; 2116- Connecting hole; 212- Drag cable coupling component; 2121- Protrusion; 213- Steel wire; 22- Second docking assembly; 221- Mounting seat; 222- Drag hook; 223- Caster; X- Horizontal direction; Y- Vertical direction. Detailed Implementation

[0050] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0051] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0052] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0053] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0054] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0055] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar open-ended expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0056] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0057] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0058] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a direct connection or an indirect connection through an intermediate medium; it can be a relationship of two components combined together, an interaction relationship between two components, or a connection within two structures. Those skilled in the art to which this application pertains can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0059] For ease of explanation, horizontal and vertical directions are defined, and these directions are perpendicular to each other. For ease of explanation, as... Figure 3 , Figure 4 , Figure 9 , Figure 10 and Figure 14 As shown by the arrows, the direction of arrow X is the horizontal direction, and the direction of arrow Y is the vertical direction.

[0060] Currently, when unmanned surface vessels (USVs) are deployed in the open ocean, they are typically loaded onto a mother ship and released after reaching the target area via hoisting or other methods. Similarly, when recharging is required, they must be retrieved back to the mother ship using a hoisting system. Therefore, in rough seas with significant ship rolling and extremely strong waves, retrieving and releasing USVs via hoisting systems is extremely dangerous and difficult.

[0061] Therefore, this application provides an unmanned surface vessel (USV) charging system 100, including a flipping and folding device 1 and a docking device 2. The flipping and folding device 1 is used to install on a mother ship 200. The flipping and folding device 1 includes a flipping component 11, a folding component 12, and a conveying component 13. The flipping component 11 and the folding component 12 cooperate to unfold the conveying component 13, and the umbilical cable 2001 on the mother ship 200 is conveyed through the conveying component 13. The docking device 2 includes a first docking component 21 and a second docking component 22. 1 includes a tow ring 211, which is sleeved on the end of the umbilical cable 2001. The second docking assembly 22 includes a mounting base 221 and a tow hook 222. The mounting base 221 is used to hinge with the unmanned surface vessel 300 to buffer the swaying of the unmanned surface vessel 300 in the vertical direction Y. The mounting base 221 is hinged with the tow hook 222 to buffer the swaying of the unmanned surface vessel 300 in the horizontal direction X. The tow hook 222 hooks the tow ring 211. After the umbilical cable 2001 passes through the tow ring 211, it is used to connect with the charging port of the unmanned surface vessel 300 through the charging head 2002.

[0062] According to some embodiments of this application, please refer to Figures 1 to 15This invention provides an unmanned surface vessel (USV) charging system 100, including a flip-folding device 1 and a docking device 2. The flip-folding device 1 is used to install on a mother ship 200 and includes a flipping component 11, a folding component 12, and a conveying component 13. The flipping component 11 and the folding component 12 cooperate to unfold the conveying component 13, and the umbilical cable 2001 on the mother ship 200 is conveyed through the conveying component 13. The docking device 2 includes a first docking component 21 and a second docking component 22. The first docking component 21 includes... The towing ring 211 is sleeved on the end of the umbilical cable 2001. The second docking assembly 22 includes a mounting base 221 and a towing hook 222. The mounting base 221 is used to hinge with the unmanned surface vessel 300 to buffer the swaying of the unmanned surface vessel 300 in the vertical direction Y. The mounting base 221 is hinged with the towing hook 222 to buffer the swaying of the unmanned surface vessel 300 in the horizontal direction X. The towing hook 222 hooks the towing ring 211. After the umbilical cable 2001 passes through the towing ring 211, it is used to connect with the charging port of the unmanned surface vessel 300 through the charging head 2002.

[0063] A flip-folding device 1 is installed on the mothership 200 for unfolding and storing the umbilical cable 2001. In some embodiments, a towing umbilical winch 2008 is also installed on the mothership 200. The umbilical cable 2001 on the mothership 200 is transported to the transport assembly 13 by the towing umbilical winch 2008, and finally the umbilical cable 2001 is connected to the charging port of the unmanned surface vessel 300 by the docking device 2.

[0064] The tow ring 211 is sleeved on the end of the umbilical cable 2001. The tow ring 211 has a connection hole 2116 for connecting with the hook of the tow hook 222.

[0065] Mounting base 221 can be hinged to unmanned surface vessel 300 via a first pin, allowing mounting base 221 to rotate about unmanned surface vessel 300 in the vertical Y direction. Mounting base 221 can be hinged to tow hook 222 via a second pin, allowing tow hook 222 to rotate about mounting base 221 in the horizontal X direction. Therefore, when unmanned surface vessel 300 is rocking in the water, with unmanned surface vessel 300 hooked on tow ring 211 of mother ship 200 by tow hook 222, the rocking of unmanned surface vessel 300 in both the vertical Y direction and the horizontal X direction can be buffered, ensuring the connection between charging head 2002 and charging port of unmanned surface vessel 300. The charging head 2002 is waterproof. Optionally, the charging head 2002 includes an insulating layer 2004, two wires 2003 embedded in the insulating layer 2004, a housing 2005 sleeved on the end of the insulating layer 2004, two terminals 2007 respectively connected to the two wires 2003, and a pin 2006. A portion of the pin 2006 and the two terminals 2007 are embedded in the housing 2005, and the other portion of the pin 2006 and the two terminals 2007 are used to connect to the charging port of the unmanned surface vessel 300.

[0066] The technical solution of this application first uses a flipping and folding device 1 to transport the umbilical cable 2001 from the mother ship 200. Then, the mother ship 200 and the unmanned surface vessel 300 are fixed together by a docking device 2. At the same time, the umbilical cable 2001 passes through the tow ring 211 and connects to the charging port of the unmanned surface vessel 300 through the charging head 2002 to charge the unmanned surface vessel 300. Finally, the hinge between the mounting base 221 and the unmanned surface vessel 300, and the hinge between the mounting base 221 and the tow hook 222, can buffer the swaying of the unmanned surface vessel 300 in the vertical Y direction and the horizontal X direction, so as to ensure the connection between the charging head 2002 and the charging port of the unmanned surface vessel 300. Compared with using a hoisting system to hoist the unmanned surface vessel 300 onto the deck of the mother ship 200 for charging, this application is basically unaffected by sea conditions, can be charged in all weather conditions, and the operation process is relatively safe and reliable.

[0067] like Figure 6 As shown, the first docking assembly 21 also includes a tow cable coupling member 212, which is sleeved on the part of the umbilical cable 2001 where the steel wire 213 is embedded, and has a protrusion 2121 at one end; a tow ring 211 is sleeved on the outside of the tow cable coupling member 212, and the tow ring 211 has a limiting groove 2111, which accommodates the protrusion 2121 to limit the connection between the tow ring 211 and the tow cable coupling member 212.

[0068] The cable coupling component 212 protects the reinforcing section of the steel wire 213 of the umbilical cable 2001, directly transferring the drag force from the drag ring 211 to the cable bearing layer, preventing the charging head 2002 interface from bearing mechanical tension and protecting the electrical connection safety. When the protrusion 2121 is embedded in the limiting groove 2111, it completely restricts the circumferential relative rotation between the drag ring 211 and the umbilical cable 2001, preventing the charging head 2002 from tripping or the circuit from short-circuiting due to cable twisting during surges. Optionally, the limiting groove 2111 can be convex, and the convex shape can just accommodate the protrusion 2121.

[0069] The tow ring 211 has a cable inlet hole 2115. The umbilical cable 2001 passes through the cable inlet hole 2115 and the connection hole 2116 and then connects to the charging port of the unmanned surface vessel 300 via the charging head 2002.

[0070] Thus, the cooperation between the limiting groove 2111 and the protrusion 2121 can prevent the connection between the towing ring 211 and the towing cable coupling member 212 from falling off, ensuring the stability of the connection between the towing ring 211 and the towing cable coupling member 212.

[0071] like Figure 7 and Figure 8As shown, the drag ring 211 includes a drag ring body 2112, a mounting cover 2113 and two or more fasteners 2114. The drag ring body 2112 and the mounting cover 2113 are mounted on the outside of the drag cable coupling member 212 by two or more fasteners 2114.

[0072] Fasteners can be bolts, screws, or screws, etc. While the tow cable coupling 212 protects the umbilical cable 2001, the tow ring body 2112 and the mounting cover 2113 are installed by the fasteners 2114, so that the worn parts can be removed and replaced without cutting the umbilical cable 2001.

[0073] Thus, the tow ring body 2112 and the mounting cover 2113 are mounted on the outside of the tow cable coupling member 212 by two fasteners 2114, which makes it easy for the limiting groove 2111 to accommodate the protrusion 2121 and then fix it by the fasteners 2114, and facilitates subsequent maintenance.

[0074] like Figure 3 and Figure 4 As shown, the second docking assembly 22 also includes casters 223, which are mounted on the bottom of the tow hook 222. The casters 223 are used to contact the docking platform 2009 of the mother ship 200 and move on the docking platform 2009 of the mother ship 200.

[0075] Caster 223 is the existing caster 223, which can rotate 360°. When the mother ship 200 deploys the docking platform 2009, the tow hook 222 can move on the docking platform 2009 via the caster 223.

[0076] Thus, when the mother ship 200 deploys the docking platform 2009, the docking part of the unmanned surface vessel 300 and the mother ship 200 is located at the docking platform 2009, and the casters 223 need to roll on the docking platform 2009 to reduce drag.

[0077] In some embodiments, the second docking assembly 22 further includes an anti-disengagement mechanism that is hinged to the hook opening of the tow hook 222. The anti-disengagement mechanism blocks the tow ring 211 to prevent the tow ring 211 from disengaging from the tow hook 222.

[0078] Anti-disengagement technology is existing and will not be elaborated further. Specifically, after the unmanned surface vessel 300 docks, the tow hook 222 hooks the tow ring 211 and closes the anti-disengagement lock. Then, the umbilical cable 2001 passes through the tow ring 211 and connects to the charging port of the unmanned surface vessel 300 via the charging head 2002. Finally, the double-hinged structure adaptively compensates for the swaying of the unmanned surface vessel 300.

[0079] Thus, the anti-disengagement hinge is connected to the hook opening, and when closed, it forms a physical lock, preventing the drag ring 211 from disengaging from the drag hook 222.

[0080] like Figures 9 to 11As shown, the tilting assembly 11 includes a base 111, a tilting cylinder 112, a lower arm 113, and a tilting shaft 114. The base 111 is used for mounting on the mother ship 200. One end of the lower arm 113 is hinged to the base 111, and the other end of the lower arm 113 is hinged to the tilting shaft 114. One end of the tilting cylinder 112 is hinged to the base 111, and the other end of the tilting cylinder 112 is hinged to the lower arm 113. The tilting cylinder 112 drives the lower arm 113 to rotate around the base 111. The folding assembly 12 includes a folding cylinder 121 and an upper arm 122. One end of the folding cylinder 121 is hinged to the lower arm 113, and the other end of the folding cylinder 121 is hinged to the upper arm 122. One end of the upper arm 122 is hinged to the tilting shaft 114. The upper arm 122 is hinged and located inside the lower arm 113. The folding cylinder 121 drives the upper arm 122 to rotate relative to the lower arm 113. The conveying assembly 13 includes a telescopic arm 131, a cable guide tube 132, and a cable guide pulley 133. The telescopic arm 131 is connected to the other end of the upper arm 122. The cable guide tube 132 is installed on the telescopic arm 131. The inlet of the cable guide tube 132 is for the umbilical cable 2001 on the mother ship 200 to enter. The cable guide pulley 133 is installed at the outlet of the cable guide tube 132. The umbilical cable 2001 is output from the bottom of the cable guide pulley 133. The telescopic arm 131 drives the cable guide pulley 133 to move upward or downward in the vertical direction Y so that the umbilical cable 2001 is flush with the charging port of the unmanned surface vessel 300.

[0081] There are two symmetrically arranged bases 111, tilting cylinders 112 and lower arms 113. A tilting mounting plate 115 is installed on the outside of the lower arm 113. One end of the tilting cylinder 112 is hinged to the base 111, and the other end of the tilting cylinder 112 is hinged to the tilting mounting plate 115. The tilting cylinder 112 can drive the lower arm 113 to rotate 180° around the base 111.

[0082] Two folding cylinders 121 and two upper arms 122 are symmetrically arranged. A folding mounting plate 123 is installed in the middle of the upper arm 122. One end of the folding cylinder 121 is hinged to the lower arm 113, and the other end of the folding cylinder 121 is hinged to the folding mounting plate 123. The folding cylinder 121 drives the upper arm 122 to rotate relative to the lower arm 113. When the flipping folding device 1 is in the folded state, it folds and retracts onto the deck of the mother ship 200. At this time, the folding mounting plate 123 is just locked onto the lower arm 113, thereby making the flipping folding device 1 parallel to the deck of the mother ship 200. In some embodiments, the folding assembly 12 also includes an X-shaped support plate 124, which reinforces the connection between the middle parts of the two upper arms 122.

[0083] Two telescopic arms 131 are symmetrically arranged, and their upper ends are reinforcedly connected by a connecting plate 136. The telescopic arm 131 is connected to the other end of the upper arm 122, meaning that the telescopic arm 131 can be inserted into the inner cavity of the upper arm 122. The telescopic arm 131 is provided with a cable guide tube 132, and a cable guide pulley 133 is installed at the outlet of the cable guide tube 132, meaning that the cable guide pulley 133 can be installed in the middle of the cable guide tube 132.

[0084] Thus, firstly, the two ends of the tilting cylinder 112 are hinged to the base 111 and the lower arm 113 respectively, which can drive the lower arm 113 to rotate 180°; secondly, the two ends of the folding cylinder 121 are hinged to the lower arm 113 and the upper arm 122, which can drive the upper arm 122 to unfold vertically; finally, the umbilical cable 2001 enters from the inlet of the cable guide tube 132 and exits from the bottom of the cable guide pulley 133. During this process, the height of the umbilical cable 2001 can be controlled by the telescopic arm 131, which can be adapted to the draft of different types of boats (including surface unmanned surface vessels 300 and underwater unmanned surface vessels 300).

[0085] like Figure 12 and Figure 13 As shown, the lower arm 113 has a shoulder 1131 at its bottom. The flipping and folding device 1 also includes a support assembly 14, which includes a support platform 141, two sets of eye plates 142, a locking cylinder 143, a connecting rod 144, and a locking tongue 145. The support platform 141 is used to be installed on the mother ship 200 and supports the lower arm 113. The two sets of eye plates 142 are installed on one side of the support platform 141, and there is a gap between the two sets of eye plates 142 to accommodate the shoulder 1131. The locking cylinder 143 is installed on the other side of the support platform 141, and the output end of the locking cylinder 143 is connected to the connecting rod 144. The locking tongue 145 is sleeved on the end of the connecting rod 144. The locking cylinder 143 drives the connecting rod 144 to retract, and the locking tongue 145 passes through the two sets of eye plates 142 and the shoulder 1131 to lock the lower arm 113 in the position of flipping onto the support platform 141.

[0086] The support assembly 14 also includes a cylinder mounting base 146, through which the locking cylinder 143 is mounted on the support platform 141.

[0087] Since the two sets of eye plates 142 and the locking cylinder 143 are not located on the same side, the connecting rod 144 needs to be U-shaped, grid-shaped, or open-shaped, with two horizontal bars and at least one vertical bar. The two horizontal bars are connected by at least one vertical bar, and the connection of the vertical bar ensures that the locking tongue 145 and the two sets of eye plates 142 are on the same side. Therefore, when the flip-folding device 1 is in the unfolded state, the support platform 141 supports the lower arm 113, and at this time, the shoulder 1131 is exactly between the two sets of eye plates 142. The locking cylinder 143 can drive the locking tongue 145 to move closer to the eye plate 142 through the connecting rod 144. The locking tongue 145 passes through the locking hole on the shoulder 1131 and the eye plate 142, thus playing an anti-tilting role. When the flip-folding device 1 needs to return to the folded state, the locking cylinder 143 drives the connecting rod 144 to extend, the locking tongue 145 returns to its original state, the lock is released, and the lower arm 113 can be flipped around the base 111.

[0088] In this way, the locking cylinder 143 drives the locking tongue 145 through the eye plate 142 and the shoulder 1131, mechanically locking the position of the lower arm 113, preventing the lower arm 113 from changing position, and resisting the impact of ship rolling.

[0089] like Figures 9 to 11 As shown, the lower arm 113 is L-shaped, and the other end of the lower arm 113 has a limiting plate 1132. The limiting plate 1132 is used to contact the upper arm 122 to limit the angle between the upper arm 122 and the lower arm 113 to be an acute angle or a right angle.

[0090] When the upper arm 122 and lower arm 113 on the flipping and folding device 1 are unfolded to 90° by the folding cylinder 121, the limiting plate 1132 on the lower arm 113 will lock the upper arm 122, thereby ensuring that the maximum angle between the upper arm 122 and the lower arm 113 does not exceed 90°, and at the same time ensuring that the upper arm 122 can remain unfolded when the unmanned surface vessel 300 is charging, and will not tilt upward.

[0091] Thus, the other end of the lower arm 113 has a limiting plate 1132, which limits the unfolding angle of the upper arm 122 to ≤90° to prevent over-extension and to set the conveying assembly 13 in the vertical direction Y.

[0092] like Figures 9 to 11 and Figure 14 As shown, the conveying assembly 13 also includes an anti-abrasion plate 134, which is installed at the lower end of the telescopic arm 131 and located below the cable guide pulley 133.

[0093] The anti-wear plate 134 is an existing anti-wear structure, so it will not be described in detail. Since there are two telescopic arms 131, the lower ends of the two telescopic arms 131 are connected by the anti-wear plate 134.

[0094] Thus, an anti-abrasion plate 134 is provided at the point where the telescopic arm 131 may come into contact with the umbilical cable 2001, that is, an anti-abrasion plate 134 is installed at the lower end of the telescopic arm 131, thereby preventing wear on the telescopic arm 131 and the outer sheath of the umbilical cable 2001.

[0095] like Figure 9 , Figure 14 and Figure 15 As shown, the conveying assembly 13 also includes a guide wheel 135, which is used to be installed on the mother ship 200. After the conveying assembly 13 is deployed, the guide wheel 135 guides the umbilical cable 2001 on the mother ship 200 to the conveying assembly 13.

[0096] The guide wheel 135 can be located at the support assembly 14. When the flipping and folding device 1 is in the folded state, the umbilical cable 2001 on the mother ship 200 has been transferred to the conveying assembly 13. When the flipping and folding device 1 is in the unfolded state, the guide wheel 135 serves to guide the umbilical cable 2001 in transition.

[0097] Thus, the guide wheel 135 is installed on the mother ship 200 and can play a transition role after the conveyor assembly 13 is deployed, preventing the umbilical cable 2001 from bending.

[0098] like Figure 15 As shown, the folding and tilting device 1 changes from a folded state to an unfolded state. When the folding and tilting device 1 is in the folded state, the umbilical cable 2001 on the mother ship 200 has been delivered to the guide cable tube 132 and the guide cable pulley 133. The specific change process is as follows: First, the folding cylinder 121 pushes the upper arm 122 to rotate 90° around the folding and tilting axis 114. At this time, the upper arm 122 is just locked at the limiting plate 1132 of the lower arm 113. Second, the tilting cylinder 112 pulls the lower arm 113 to rotate around the folding and tilting axis 114 to a vertical state. Finally, guided by the weight of the upper arm 122, the folding and tilting device 1 is tilted to below the stern until it is unfolded. During the tilting process, the tilting cylinder 112 controls the tilting speed. When the flipping and folding device 1 is in the unfolded state, the support platform 141 provides support. Simultaneously, the lower arm 113 is locked in position by the locking cylinder 143, and the umbilical cable 2001 on the mother ship 200 is guided to the guide pipe 132 and guide pulley 133 via the guide wheel 135. Similarly, when the flipping and folding device 1 needs to be changed from the unfolded state to the folded state, the operation is reversed.

[0099] The working principle of the unmanned surface vessel (USV) charging system 100 is as follows: After the USV 300 docks, firstly, the flip-folding device 1 is changed from a folded state to an unfolded state, causing the cable guide pulley 133 to unfold. The height of the cable guide pulley 133 in the vertical direction Y can be adjusted according to the height of the USV 300, so that the umbilical cable 2001 is level with the charging port of the USV 300. Secondly, the tow hook 222 hooks onto the tow ring 211 and closes to prevent it from detaching. Thirdly, the umbilical cable 2001 passes through the tow ring 211 and connects to the charging port of the USV 300 through the charging head 2002. Finally, the double-hinged structure adaptively compensates for the swaying of the USV 300.

[0100] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, any changes and modifications made to the embodiments described herein based on the innovative concept of the present invention, or equivalent structural or procedural transformations made using the content of the present invention's specification and drawings, directly or indirectly applying the above technical solutions to other related technical fields, are all included within the scope of patent protection of the present invention.

Claims

1. A charging system for unmanned surface vessels, characterized in that, include: A flip-and-fold device is used to be installed on a mother ship. The flip-and-fold device includes a flipping component, a folding component, and a conveying component. The flipping component cooperates with the folding component to unfold the conveying component, and the umbilical cable on the mother ship is conveyed through the conveying component. The docking device includes a first docking assembly and a second docking assembly. The first docking assembly includes a towing ring, which is sleeved on the end of the umbilical cable. The second docking assembly includes a mounting base and a towing hook. The mounting base is hinged to the unmanned surface vessel (USV) to buffer the USV's vertical sway. The mounting base is hinged to the towing hook to buffer the USV's horizontal sway. The towing hook hooks the towing ring. The umbilical cable passes through the towing ring and is connected to the USV's charging port via a charging head. The tilting assembly includes a base, a tilting cylinder, a lower arm, and a tilting shaft. The base is used to be installed on the mother ship. One end of the lower arm is hinged to the base, and the other end of the lower arm is hinged to the tilting shaft. One end of the tilting cylinder is hinged to the base, and the other end of the tilting cylinder is hinged to the lower arm. The tilting cylinder drives the lower arm to rotate around the base. The folding assembly includes a folding cylinder and an upper arm. One end of the folding cylinder is hinged to the lower arm, and the other end of the folding cylinder is hinged to the upper arm. One end of the upper arm is hinged to the flipping shaft and is located inside the lower arm. The folding cylinder drives the upper arm to rotate relative to the lower arm. The conveying assembly includes a telescopic arm, a cable guide tube, and a cable guide pulley. The telescopic arm is connected to the other end of the upper arm. The cable guide tube is installed on the telescopic arm. The inlet of the cable guide tube allows the umbilical cable on the mother ship to enter. The cable guide pulley is installed at the outlet of the cable guide tube. The umbilical cable is output from the bottom of the cable guide pulley. The telescopic arm drives the cable guide pulley to move up or down in the vertical direction so that the umbilical cable is flush with the charging port of the unmanned surface vessel. The lower arm has a shoulder at its bottom. The flipping and folding device also includes a support assembly, which includes a support platform, two sets of eye plates, a locking cylinder, a connecting rod, and a locking tongue. The support platform is used to install on the mother ship and supports the lower arm. The two sets of eye plates are installed on one side of the support platform, and there is a gap between the two sets of eye plates to accommodate the shoulder. The locking cylinder is installed on the other side of the support platform, and the output end of the locking cylinder is connected to the connecting rod. The locking tongue is sleeved on the end of the connecting rod. The locking cylinder drives the connecting rod to retract, and the locking tongue passes through the two sets of eye plates and the shoulder to lock the lower arm in the position flipped onto the support platform.

2. The unmanned surface vessel charging system according to claim 1, characterized in that, The first docking assembly further includes a tow cable coupling component, which is sleeved on the part of the umbilical cable where the steel wire is embedded, and has a protrusion at one end. The drag ring is sleeved on the outside of the drag cable coupling member. The drag ring has a limiting groove that accommodates the protrusion to restrict the connection between the drag ring and the drag cable coupling member.

3. The unmanned surface vessel charging system according to claim 2, characterized in that, The drag ring includes a drag ring body, a mounting cover, and two or more fasteners. The drag ring body and the mounting cover are mounted on the outside of the drag cable coupling member by the two or more fasteners.

4. The unmanned surface vessel charging system according to claim 1, characterized in that, The second docking assembly also includes casters mounted on the bottom of the tow hook for contacting the docking platform of the mother ship and for moving on the docking platform of the mother ship.

5. The unmanned surface vessel charging system according to claim 1, characterized in that, The second docking assembly also includes an anti-disengagement mechanism, which is hinged to the hook opening of the tow hook and blocks the tow ring to prevent the tow ring from disengaging from the tow hook.

6. The unmanned surface vessel charging system according to claim 1, characterized in that, The lower arm is L-shaped, and the other end of the lower arm has a limiting plate. The limiting plate is used to contact the upper arm to limit the angle between the upper arm and the lower arm to an acute angle or a right angle.

7. The unmanned surface vessel charging system according to claim 1, characterized in that, The conveying assembly also includes an anti-abrasion plate, which is installed at the lower end of the telescopic arm and located below the cable guide pulley.

8. The unmanned surface vessel charging system according to claim 1, characterized in that, The conveying assembly also includes a guide wheel for mounting on the mother ship, which guides the umbilical cable on the mother ship to the conveying assembly after the conveying assembly is deployed.

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